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Replaced floats with doubles (#355)

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This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
This commit is contained in:
Tyler Veness
2016-11-20 07:25:03 -08:00
committed by Peter Johnson
parent 7bcd243ec3
commit 69422dc063
129 changed files with 643 additions and 639 deletions
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24
wpilibc/athena/src/AnalogGyro.cpp
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@@ -19,9 +19,9 @@ using namespace frc;
const int AnalogGyro::kOversampleBits;
const int AnalogGyro::kAverageBits;
constexpr float AnalogGyro::kSamplesPerSecond;
constexpr float AnalogGyro::kCalibrationSampleTime;
constexpr float AnalogGyro::kDefaultVoltsPerDegreePerSecond;
constexpr double AnalogGyro::kSamplesPerSecond;
constexpr double AnalogGyro::kCalibrationSampleTime;
constexpr double AnalogGyro::kDefaultVoltsPerDegreePerSecond;
/**
* Gyro constructor using the Analog Input channel number.
@@ -78,7 +78,7 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
* value.
* @param offset Preset uncalibrated value to use as the gyro offset.
*/
AnalogGyro::AnalogGyro(int channel, int center, float offset) {
AnalogGyro::AnalogGyro(int channel, int center, double offset) {
m_analog = std::make_shared<AnalogInput>(channel);
InitGyro();
int32_t status = 0;
@@ -104,7 +104,7 @@ AnalogGyro::AnalogGyro(int channel, int center, float offset) {
* connected to.
*/
AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
float offset)
double offset)
: m_analog(channel) {
if (channel == nullptr) {
wpi_setWPIError(NullParameter);
@@ -198,10 +198,10 @@ void AnalogGyro::Calibrate() {
* @return the current heading of the robot in degrees. This heading is based on
* integration of the returned rate from the gyro.
*/
float AnalogGyro::GetAngle() const {
if (StatusIsFatal()) return 0.f;
double AnalogGyro::GetAngle() const {
if (StatusIsFatal()) return 0.0;
int32_t status = 0;
float value = HAL_GetAnalogGyroAngle(m_gyroHandle, &status);
double value = HAL_GetAnalogGyroAngle(m_gyroHandle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return value;
}
@@ -227,10 +227,10 @@ double AnalogGyro::GetRate() const {
*
* @return the current offset value
*/
float AnalogGyro::GetOffset() const {
double AnalogGyro::GetOffset() const {
if (StatusIsFatal()) return 0.0;
int32_t status = 0;
float value = HAL_GetAnalogGyroOffset(m_gyroHandle, &status);
double value = HAL_GetAnalogGyroOffset(m_gyroHandle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return value;
}
@@ -258,7 +258,7 @@ int AnalogGyro::GetCenter() const {
*
* @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second
*/
void AnalogGyro::SetSensitivity(float voltsPerDegreePerSecond) {
void AnalogGyro::SetSensitivity(double voltsPerDegreePerSecond) {
int32_t status = 0;
HAL_SetAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle,
voltsPerDegreePerSecond, &status);
@@ -274,7 +274,7 @@ void AnalogGyro::SetSensitivity(float voltsPerDegreePerSecond) {
*
* @param volts The size of the deadband in volts
*/
void AnalogGyro::SetDeadband(float volts) {
void AnalogGyro::SetDeadband(double volts) {
if (StatusIsFatal()) return;
int32_t status = 0;
HAL_SetAnalogGyroDeadband(m_gyroHandle, volts, &status);